﻿/* 
 * PROJECT: NyARToolkitCS
 * --------------------------------------------------------------------------------
 *
 * The NyARToolkitCS is C# edition NyARToolKit class library.
 * Copyright (C)2008-2012 Ryo Iizuka
 *
 * This work is based on the ARToolKit developed by
 *   Hirokazu Kato
 *   Mark Billinghurst
 *   HITLab, University of Washington, Seattle
 * http://www.hitl.washington.edu/artoolkit/
 * 
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as publishe
 * by the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 * 
 * For further information please contact.
 *	http://nyatla.jp/nyatoolkit/
 *	<airmail(at)ebony.plala.or.jp> or <nyatla(at)nyatla.jp>
 * 
 */
using System;
using jp.nyatla.nyartoolkit.cs.cs4;
namespace jp.nyatla.nyartoolkit.cs.core
{

    /**
     * このクラスは、高速化したARToolKit由来の姿勢行列最適化処理を実装します。
     */
    public class NyARRotMatrixOptimize_O2 : INyARRotMatrixOptimize
    {
        private readonly NyARPerspectiveProjectionMatrix _projection_mat_ref;
        /**
         * コンストラクタです。
         * 射影変換オブジェクトの参照値を設定して、インスタンスを生成します。
         * @param i_projection_mat_ref
         * 射影変換オブジェクトの参照値。
         */
        public NyARRotMatrixOptimize_O2(NyARPerspectiveProjectionMatrix i_projection_mat_ref)
        {
            this._projection_mat_ref = i_projection_mat_ref;
            return;
        }
        private readonly double[][] __modifyMatrix_double1D = ArrayUtils.newDouble2dArray(8, 3);
        /**
         * この関数は、回転行列を最適化します。
         * ARToolKitのarGetRotに相当します。
         */
        public double modifyMatrix(NyARRotMatrix_ARToolKit io_rot, NyARDoublePoint3d trans, NyARDoublePoint3d[] i_vertex3d, NyARDoublePoint2d[] i_vertex2d)
        {
            double factor;
            double a2, b2, c2;
            double h, x, y;
            double err, minerr = 0;
            int t1, t2, t3;
            int best_idx = 0;

            factor = 10.0 * Math.PI / 180.0;
            double rot0, rot1, rot2;
            double combo00, combo01, combo02, combo03, combo10, combo11, combo12, combo13, combo20, combo21, combo22, combo23;
            double combo02_2, combo02_5, combo02_8, combo02_11;
            double combo22_2, combo22_5, combo22_8, combo22_11;
            double combo12_2, combo12_5, combo12_8, combo12_11;
            // vertex展開
            double VX00, VX01, VX02, VX10, VX11, VX12, VX20, VX21, VX22, VX30, VX31, VX32;
            VX00 = i_vertex3d[0].x;
            VX01 = i_vertex3d[0].y;
            VX02 = i_vertex3d[0].z;
            VX10 = i_vertex3d[1].x;
            VX11 = i_vertex3d[1].y;
            VX12 = i_vertex3d[1].z;
            VX20 = i_vertex3d[2].x;
            VX21 = i_vertex3d[2].y;
            VX22 = i_vertex3d[2].z;
            VX30 = i_vertex3d[3].x;
            VX31 = i_vertex3d[3].y;
            VX32 = i_vertex3d[3].z;
            double P2D00, P2D01, P2D10, P2D11, P2D20, P2D21, P2D30, P2D31;
            P2D00 = i_vertex2d[0].x;
            P2D01 = i_vertex2d[0].y;
            P2D10 = i_vertex2d[1].x;
            P2D11 = i_vertex2d[1].y;
            P2D20 = i_vertex2d[2].x;
            P2D21 = i_vertex2d[2].y;
            P2D30 = i_vertex2d[3].x;
            P2D31 = i_vertex2d[3].y;
            NyARPerspectiveProjectionMatrix prjmat = this._projection_mat_ref;
            double CP0 = prjmat.m00, CP1 = prjmat.m01, CP2 = prjmat.m02, CP4 = prjmat.m10, CP5 = prjmat.m11, CP6 = prjmat.m12, CP8 = prjmat.m20, CP9 = prjmat.m21, CP10 = prjmat.m22;
            combo03 = CP0 * trans.x + CP1 * trans.y + CP2 * trans.z + prjmat.m03;
            combo13 = CP4 * trans.x + CP5 * trans.y + CP6 * trans.z + prjmat.m13;
            combo23 = CP8 * trans.x + CP9 * trans.y + CP10 * trans.z + prjmat.m23;
            double CACA, SASA, SACA, CA, SA;
            double CACACB, SACACB, SASACB, CASB, SASB;
            double SACASC, SACACBSC, SACACBCC, SACACC;
            double[][] double1D = this.__modifyMatrix_double1D;

            double[] a_factor = double1D[1];
            double[] sinb = double1D[2];
            double[] cosb = double1D[3];
            double[] b_factor = double1D[4];
            double[] sinc = double1D[5];
            double[] cosc = double1D[6];
            double[] c_factor = double1D[7];
            double w, w2;
            double wsin, wcos;

            NyARDoublePoint3d angle = io_rot.getAngle();
            a2 = angle.x;
            b2 = angle.y;
            c2 = angle.z;

            // comboの3行目を先に計算
            for (int i = 0; i < 10; i++)
            {
                minerr = 1000000000.0;
                // sin-cosテーブルを計算(これが外に出せるとは…。)
                for (int j = 0; j < 3; j++)
                {
                    w2 = factor * (j - 1);
                    w = a2 + w2;
                    a_factor[j] = w;
                    w = b2 + w2;
                    b_factor[j] = w;
                    sinb[j] = Math.Sin(w);
                    cosb[j] = Math.Cos(w);
                    w = c2 + w2;
                    c_factor[j] = w;
                    sinc[j] = Math.Sin(w);
                    cosc[j] = Math.Cos(w);
                }
                //
                for (t1 = 0; t1 < 3; t1++)
                {
                    SA = Math.Sin(a_factor[t1]);
                    CA = Math.Cos(a_factor[t1]);
                    // Optimize
                    CACA = CA * CA;
                    SASA = SA * SA;
                    SACA = SA * CA;
                    for (t2 = 0; t2 < 3; t2++)
                    {
                        wsin = sinb[t2];
                        wcos = cosb[t2];
                        CACACB = CACA * wcos;
                        SACACB = SACA * wcos;
                        SASACB = SASA * wcos;
                        CASB = CA * wsin;
                        SASB = SA * wsin;
                        // comboの計算1
                        combo02 = CP0 * CASB + CP1 * SASB + CP2 * wcos;
                        combo12 = CP4 * CASB + CP5 * SASB + CP6 * wcos;
                        combo22 = CP8 * CASB + CP9 * SASB + CP10 * wcos;

                        combo02_2 = combo02 * VX02 + combo03;
                        combo02_5 = combo02 * VX12 + combo03;
                        combo02_8 = combo02 * VX22 + combo03;
                        combo02_11 = combo02 * VX32 + combo03;
                        combo12_2 = combo12 * VX02 + combo13;
                        combo12_5 = combo12 * VX12 + combo13;
                        combo12_8 = combo12 * VX22 + combo13;
                        combo12_11 = combo12 * VX32 + combo13;
                        combo22_2 = combo22 * VX02 + combo23;
                        combo22_5 = combo22 * VX12 + combo23;
                        combo22_8 = combo22 * VX22 + combo23;
                        combo22_11 = combo22 * VX32 + combo23;
                        for (t3 = 0; t3 < 3; t3++)
                        {
                            wsin = sinc[t3];
                            wcos = cosc[t3];
                            SACASC = SACA * wsin;
                            SACACC = SACA * wcos;
                            SACACBSC = SACACB * wsin;
                            SACACBCC = SACACB * wcos;

                            rot0 = CACACB * wcos + SASA * wcos + SACACBSC - SACASC;
                            rot1 = SACACBCC - SACACC + SASACB * wsin + CACA * wsin;
                            rot2 = -CASB * wcos - SASB * wsin;
                            combo00 = CP0 * rot0 + CP1 * rot1 + CP2 * rot2;
                            combo10 = CP4 * rot0 + CP5 * rot1 + CP6 * rot2;
                            combo20 = CP8 * rot0 + CP9 * rot1 + CP10 * rot2;

                            rot0 = -CACACB * wsin - SASA * wsin + SACACBCC - SACACC;
                            rot1 = -SACACBSC + SACASC + SASACB * wcos + CACA * wcos;
                            rot2 = CASB * wsin - SASB * wcos;
                            combo01 = CP0 * rot0 + CP1 * rot1 + CP2 * rot2;
                            combo11 = CP4 * rot0 + CP5 * rot1 + CP6 * rot2;
                            combo21 = CP8 * rot0 + CP9 * rot1 + CP10 * rot2;
                            //
                            err = 0.0;
                            h = combo20 * VX00 + combo21 * VX01 + combo22_2;
                            x = P2D00 - (combo00 * VX00 + combo01 * VX01 + combo02_2) / h;
                            y = P2D01 - (combo10 * VX00 + combo11 * VX01 + combo12_2) / h;
                            err += x * x + y * y;
                            h = combo20 * VX10 + combo21 * VX11 + combo22_5;
                            x = P2D10 - (combo00 * VX10 + combo01 * VX11 + combo02_5) / h;
                            y = P2D11 - (combo10 * VX10 + combo11 * VX11 + combo12_5) / h;
                            err += x * x + y * y;
                            h = combo20 * VX20 + combo21 * VX21 + combo22_8;
                            x = P2D20 - (combo00 * VX20 + combo01 * VX21 + combo02_8) / h;
                            y = P2D21 - (combo10 * VX20 + combo11 * VX21 + combo12_8) / h;
                            err += x * x + y * y;
                            h = combo20 * VX30 + combo21 * VX31 + combo22_11;
                            x = P2D30 - (combo00 * VX30 + combo01 * VX31 + combo02_11) / h;
                            y = P2D31 - (combo10 * VX30 + combo11 * VX31 + combo12_11) / h;
                            err += x * x + y * y;
                            if (err < minerr)
                            {
                                minerr = err;
                                a2 = a_factor[t1];
                                b2 = b_factor[t2];
                                c2 = c_factor[t3];
                                best_idx = t1 + t2 * 3 + t3 * 9;
                            }
                        }
                    }
                }
                if (best_idx == (1 + 3 + 9))
                {
                    factor *= 0.5;
                }
            }
            io_rot.setAngle(a2, b2, c2);
            /* printf("factor = %10.5f\n", factor*180.0/MD_PI); */
            return minerr / 4;
        }
    }
}
